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class="article-meta__categories" href="/categories/%E5%AD%A6%E4%B9%A0%E6%89%8B%E8%AE%B0/">学习手记</a></span></div><div class="content"><!-- hexo-inject:begin --><!-- hexo-inject:end -->第一步：打开BILIBILI弹幕视频网站，并且确保已经登录了您的账户
第二步：选中浏览器窗口的情况下，按下键盘上的F12按键进入测试界面，并选中“Network”选择夹
第三步：选中浏览器窗口的情况下，按下键盘上的“Ctrl + R”键，并将列表往上拖
第四步：选中第一个“www.bilibili.com”选项，并选择右侧“Headers”选项卡
第五步：在选项卡中的“Request Headers”-“cookie”中找到我们的cookie
cookie：后的“buvid…….”即是我们需要的cookie。
</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2021/08/31/mecanum-kinematics/" title="【学术】4-麦克纳姆轮平台运动学建模">     <img class="post_bg" src= "" data-lazy-src="/source_storage/mecan_ka.gif" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="【学术】4-麦克纳姆轮平台运动学建模"></a></div><div class="recent-post-info"><a class="article-title" href="/2021/08/31/mecanum-kinematics/" title="【学术】4-麦克纳姆轮平台运动学建模">【学术】4-麦克纳姆轮平台运动学建模</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">发表于</span><time datetime="2021-09-01T03:00:00.000Z" title="发表于 2021-09-01 11:00:00">2021-09-01</time></span><span class="article-meta"><span class="article-meta__separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/%E5%AD%A6%E4%B9%A0%E6%89%8B%E8%AE%B0/">学习手记</a></span></div><div class="content">1. 单个麦克纳姆轮运动模型麦克纳姆轮由一个轮毂与多个辊子构成的异形轮，其中麦克纳姆轮轮轴与辊子滚轴夹角为45°。如图1.1(a)所示，在麦克纳姆轮转动时，辊子将与地面进行摩擦并产生特殊的速度分量${v_{ir}}$，为垂直于辊子的速度[22]。

可以根据图1.1(b)可以计算出车轮$i$产生的前向速度分量${w_{Ei}}$与自由辊子与地面所接触的切向速度${v_{ir}}$，并满足公式(4-1)。
$$
{v_{ir}} = \frac{1}{{\cos {{45}^ \circ }}}{r_r}{\omega _i},\:{w_{Ei}} = {r_i}{\omega _i},\:i = 1,2,3,4\:\:\:\:\:\:\:\:\:\:\:\:\:\:\:\:\:\:(4-1)
$$
同时根据图1.1(b)可以求出单个轮子的平面坐标系${S_i}{P_i}{E_i}$上的速度分量，他们分别用${w_{Si}}$与${w_{Ei}}$来表示，并整理出式(4-2)。
$$
\left[ {\begin{array}{*{20}{c}}
{{v_{Si}}}\\
{{v_{Ei ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2021/02/09/Java-Note-01/" title="【Java学习】Java入门笔记1">     <img class="post_bg" src= "" data-lazy-src="/source_storage/java.jpg" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="【Java学习】Java入门笔记1"></a></div><div class="recent-post-info"><a class="article-title" href="/2021/02/09/Java-Note-01/" title="【Java学习】Java入门笔记1">【Java学习】Java入门笔记1</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">发表于</span><time datetime="2021-02-10T04:06:00.000Z" title="发表于 2021-02-10 12:06:00">2021-02-10</time></span><span class="article-meta"><span class="article-meta__separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/Java%E5%AD%A6%E4%B9%A0/">Java学习</a></span></div><div class="content">Java学习笔记（1）1.1 什么是JDK、JRE、JVMJVM(Java Virtual Machine): Java虚拟机，简称JVM，是运行所有Java程序的假象计算机，是Java运行环境，同时也是Java最具吸引力的特征之一。我们编写的Java代码都将运行在JVM之上。
JRE(Java Runtime Environment):是Java程序的运行环境，包含JVM和运行时所需要的核心类库。
JDK(Java Development Kit):是Java程序开发工具包，包含JRE和开发人员使用的工具。
我们想要运行一个已有的Java程序，那么只需要安装JRE即可。
我们想要开发一个全新的Java程序，那么必须安装JDK。
1.2 环境配置JDK下载地址：官方下载安装即可
1.3 第一个Java程序：HelloWorld12345public class HelloWorld &#123;    public static void main(String[] args)&#123;        System.out.println(&quot;Hello, World!&qu ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2021/01/31/PID-DCMotor-Simulate/" title="【学习手记】基于AT89C52单片机的PID直流电机控制系统仿真">     <img class="post_bg" src= "" data-lazy-src="/source_storage/Proteus.jpg" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="【学习手记】基于AT89C52单片机的PID直流电机控制系统仿真"></a></div><div class="recent-post-info"><a class="article-title" href="/2021/01/31/PID-DCMotor-Simulate/" title="【学习手记】基于AT89C52单片机的PID直流电机控制系统仿真">【学习手记】基于AT89C52单片机的PID直流电机控制系统仿真</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">发表于</span><time datetime="2021-01-31T12:50:00.000Z" title="发表于 2021-01-31 20:50:00">2021-01-31</time></span><span class="article-meta"><span class="article-meta__separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/%E5%AD%A6%E4%B9%A0%E6%89%8B%E8%AE%B0/">学习手记</a></span></div><div class="content">1. 引言有刷直流电机控制系统是指对有刷电机的启动、加速、运转、减速及停止进行的控制的一种系统。直流电机发展起步于二十世纪七八十年代，MAC无刷直流电机问世，带动了直流电动机控制技术在国际范围内的发展。我国国内也开始对直流电机展开广泛研究，先后推出了方波无刷电机、正弦波直流电机等典型的直流电机[1]。如今不同的电机控制方法开始出现，其中以矢量控制、PID控制、模糊控制和鲁棒控制最为常用。在工业生产生活中，直流电机控制系统主要应用于交通、智能制造、能源开采和尖端控制等领域[2]。PID控制是电机控制中不可获取的一种控制算法，实现简单，控制精度好，稳定性高，经常运用在各种加工机床等生产设备中。使用PID算法对PWM脉宽进行调制是一种很好的有刷直流电机控制的解决方案，在本方案中本文将使用AT89C52平台进行仿真，AT89C52是基于8051框架下构建的单片机芯片；其价格低廉，开发方便，稳定性较好，经常运用于嵌入式电机控制系统中。
2. 有刷直流控制系统的设计本文所介绍的基于AT89C52单片机的PID直流电机控制系统设计过程主要分为MATLAB建模、Proteus硬件电路的设计以及基于C5 ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2021/01/29/Matlab_Robot_simulation/" title="【学习手记】MATLAB与机器人仿真项目训练">     <img class="post_bg" src= "" data-lazy-src="/source_storage/matlabrobotsimulate.png" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="【学习手记】MATLAB与机器人仿真项目训练"></a></div><div class="recent-post-info"><a class="article-title" href="/2021/01/29/Matlab_Robot_simulation/" title="【学习手记】MATLAB与机器人仿真项目训练">【学习手记】MATLAB与机器人仿真项目训练</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">发表于</span><time datetime="2021-01-30T05:14:00.000Z" title="发表于 2021-01-30 13:14:00">2021-01-30</time></span><span class="article-meta"><span class="article-meta__separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/%E5%AD%A6%E4%B9%A0%E6%89%8B%E8%AE%B0/">学习手记</a><i class="fas fa-angle-right"></i><a class="article-meta__categories" href="/categories/%E5%AD%A6%E4%B9%A0%E6%89%8B%E8%AE%B0/Robot/">Robot</a></span></div><div class="content">一、4-DOF MICO串联机器人正逆解1. 4-DOF MICO串联机器人系统介绍机器人基本技术参数设计主要是根据设计任务和功能要求，来确定以下主要性能参数:机器人的用途:根据设计要求，所设计的机器人主要用于柔性制造系统中刀具更换、工件运送和装配。机器人的负载能力:机器人末端执行器持重为: 2kg。 末端执行器与本体之间以接口的形式连接以便对多种末端执行器进行替换。传动系统设计是机器人设计过程中最主要的设计问题之一。机器入的传动系统除采用齿轮、蜗轮蜗杆和行星齿轮传动外，还广泛采用滚珠丝杠、谐波减速装置和绳轮钢带等传动装置。如果机器人的成本允许，传动系统应避免自己加工制造，尽可能采用知名厂家成熟的传动产品。传动装置在机器人的设计中是一个很重要的环节，传动的好坏直接影响到最后的控制性能。
随着机器人应用领域的不断扩大，机器人产品也正在向多品种、小批量、低成本等方向发展，这就对机器人本体的设计和生产提出了新的要求。机器人本体的设计应尽可能标准化、模块化以缩短开发和生产周期，降低生产成本。采用模块化设计还可以有效地提高设计的重用性，增加系统的可靠性，并能根据客户需要对系统进行合理配置从而满足 ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2021/01/19/RobotStudio1/" title="【学习手记】RobotStudio仿真项目课题">     <img class="post_bg" src= "" data-lazy-src="/source_storage/robotstudio1.jpg" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="【学习手记】RobotStudio仿真项目课题"></a></div><div class="recent-post-info"><a class="article-title" href="/2021/01/19/RobotStudio1/" title="【学习手记】RobotStudio仿真项目课题">【学习手记】RobotStudio仿真项目课题</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">发表于</span><time datetime="2021-01-19T12:44:00.000Z" title="发表于 2021-01-19 20:44:00">2021-01-19</time></span><span class="article-meta"><span class="article-meta__separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/%E5%AD%A6%E4%B9%A0%E6%89%8B%E8%AE%B0/">学习手记</a><i class="fas fa-angle-right"></i><a class="article-meta__categories" href="/categories/%E5%AD%A6%E4%B9%A0%E6%89%8B%E8%AE%B0/Robot/">Robot</a></span></div><div class="content">一、课题介绍1.1 简介随着当今社会的不断发展，以工业机器人智能制造为主导的新科技浪潮不断推进，相关工业机器人的应用需求和与之伴随的相关应用型人才的需求也越来越大。在工业机器人编程与操作的实习中，本报告选择工业弧焊机器人进行展开讨论与建模仿真。因新冠疫情的因素影响，学生无法返校进行工业机器人的实际操作，故实验主要是使用SolidWorks建模软件与ABB RobotStudio仿真软件进行工作空间的搭建与仿真。本次课题旨在通过RobotStudio虚拟仿真平台上搭建焊接机器人工作站的过程，让我们掌握工业机器人三维建模、离线编程、程序调试、实验仿真以及验证的有关操作。
1.2 工艺要求本次实习要求使用RobotStudio进行弧焊工业机器人的仿真，使用SolidWorks对焊件以及周边器件进行建模，需要整个工作系统能够平稳运行，能够应用于生产实践；需要考虑实际情况进行设计，不能出现穿模，碰撞等现实中不可行的方案，需要使用恰当的方式方法进行工作站的搭建。
二、总体方案设计2.1 总体方案总体方案如图2.1所示：

在弧焊工业机器人的仿真设计中，开始需要分为两个步骤，分别为SolidWork ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2020/07/27/edadesign/" title="【学习手记】堆栈电路的EDA设计">     <img class="post_bg" src= "" data-lazy-src="/source_storage/EDA1_Topimage.jpg" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="【学习手记】堆栈电路的EDA设计"></a></div><div class="recent-post-info"><a class="article-title" href="/2020/07/27/edadesign/" title="【学习手记】堆栈电路的EDA设计">【学习手记】堆栈电路的EDA设计</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">发表于</span><time datetime="2020-07-27T08:29:00.000Z" title="发表于 2020-07-27 16:29:00">2020-07-27</time></span><span class="article-meta"><span class="article-meta__separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/%E5%AD%A6%E4%B9%A0%E6%89%8B%E8%AE%B0/">学习手记</a><i class="fas fa-angle-right"></i><a class="article-meta__categories" href="/categories/%E5%AD%A6%E4%B9%A0%E6%89%8B%E8%AE%B0/%E7%A1%AC%E4%BB%B6%E8%AE%BE%E8%AE%A1/">硬件设计</a></span></div><div class="content">1. 设计要求设计5字节的堆栈电路并进行仿真，电路使用8位并行接口，端口包括8位数据端口D、读写信号RD与WR、片选端口CS。当CS、WR产生下降沿时，电路通过8位并行接口将数据写入堆栈；当CS、RD产生下降沿时，电路通过8位并行接口按照“先入后出”的顺序，将堆栈数据依次送至数据总线D。
2. 功能与电路逻辑分析2.1 功能分析堆栈是计算机系统中应用非常广泛的一种储存电路，它遵循先入后出的储存原则，常用于计算机控制过程中的一些重要的运行参数与数据的存储恢复。基本堆栈存储区STACK、堆栈指针SP，如图2.1所示。

当存入数据时，堆栈电路获取堆栈指针SP，计算对应的存储地址。然后将指定数据传送至相应的存储单元，则堆栈指针加1运算，即称之为“压栈”或“入栈”；读数据操作时，堆栈电路首先获取堆栈指针SP，堆栈指针则进行减1运算，随后计算地址信息，将对应存储单元的数据传送至数据总线，完成栈内数据的“出栈”操作。在堆栈初始化状态时，堆栈指针SP指向图中的栈底。随堆栈操作的进行，根据栈操作的指令，堆栈指针依次加1（上移）或减1（下移），直至到达栈底或栈顶。
2.2 实现原理堆栈电路设计通过写进程 ...</div></div></div><nav id="pagination"><div class="pagination"><span class="page-number current">1</span><a class="page-number" href="/page/2/#content-inner">2</a><a class="extend next" rel="next" href="/page/2/#content-inner"><i class="fas fa-chevron-right fa-fw"></i></a></div></nav></div><div class="aside-content" id="aside-content"><div class="card-widget card-info"><div class="is-center"><div class="avatar-img"><img src= "" data-lazy-src="/img/avatar.jpg" onerror="this.onerror=null;this.src='/img/friend_404.gif'" alt="avatar"/></div><div class="author-info__name">哲铭</div><div class="author-info__description">哲铭的个人站点，分享技术学习心得，项目开发心路历程，以及日常沙雕操作，欢迎访问！</div></div><div class="card-info-data"><div class="card-info-data-item is-center"><a href="/archives/"><div class="headline">文章</div><div class="length-num">10</div></a></div><div class="card-info-data-item is-center"><a href="/tags/"><div class="headline">标签</div><div class="length-num">22</div></a></div><div class="card-info-data-item is-center"><a href="/categories/"><div class="headline">分类</div><div class="length-num">5</div></a></div></div><a class="button--animated" id="card-info-btn" target="_blank" rel="noopener" href="https://github.com/xxxxxx"><i class="fab fa-github"></i><span>Follow Me</span></a><div class="card-info-social-icons is-center"><a class="social-icon" href="https://github.com/JimmyLiang-lzm" target="_blank" title="Github"><i class="fab fa-github"></i></a><a class="social-icon" href="mailto:mibemail@163.com" target="_blank" title="Email"><i class="fas fa-envelope"></i></a></div></div><div class="card-widget card-announcement"><div class="item-headline"><i class="fas fa-bullhorn card-announcement-animation"></i><span>公告</span></div><div class="announcement_content">本博客网站因资金原因暂时托管到Github与Gitee上，当发工资的时候会搭建自己的服务器哒🤪！<a target="_blank" rel="noopener" href="https://zmtechn.gitee.io"><button>Gitee访问地址</button></a><a href="https://jimmyliang-lzm.github.io"><button>Github访问地址</button></a></div></div><div class="sticky_layout"><div class="card-widget card-recent-post"><div class="item-headline"><i class="fas fa-history"></i><span>最新文章</span></div><div class="aside-list"><div class="aside-list-item"><a class="thumbnail" href="/2021/10/05/Get_bilibili_cookie/" title="【教程】如何获取B站用户Cookie"><img src= "" data-lazy-src="/source_storage/2233.jpg" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="【教程】如何获取B站用户Cookie"/></a><div class="content"><a class="title" href="/2021/10/05/Get_bilibili_cookie/" title="【教程】如何获取B站用户Cookie">【教程】如何获取B站用户Cookie</a><time datetime="2021-10-06T03:00:00.000Z" title="发表于 2021-10-06 11:00:00">2021-10-06</time></div></div><div class="aside-list-item"><a class="thumbnail" href="/2021/08/31/mecanum-kinematics/" title="【学术】4-麦克纳姆轮平台运动学建模"><img src= "" data-lazy-src="/source_storage/mecan_ka.gif" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="【学术】4-麦克纳姆轮平台运动学建模"/></a><div class="content"><a class="title" href="/2021/08/31/mecanum-kinematics/" title="【学术】4-麦克纳姆轮平台运动学建模">【学术】4-麦克纳姆轮平台运动学建模</a><time datetime="2021-09-01T03:00:00.000Z" title="发表于 2021-09-01 11:00:00">2021-09-01</time></div></div><div class="aside-list-item"><a class="thumbnail" href="/2021/02/09/Java-Note-01/" title="【Java学习】Java入门笔记1"><img src= "" data-lazy-src="/source_storage/java.jpg" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="【Java学习】Java入门笔记1"/></a><div class="content"><a class="title" href="/2021/02/09/Java-Note-01/" title="【Java学习】Java入门笔记1">【Java学习】Java入门笔记1</a><time datetime="2021-02-10T04:06:00.000Z" title="发表于 2021-02-10 12:06:00">2021-02-10</time></div></div><div class="aside-list-item"><a class="thumbnail" href="/2021/01/31/PID-DCMotor-Simulate/" title="【学习手记】基于AT89C52单片机的PID直流电机控制系统仿真"><img src= "" data-lazy-src="/source_storage/Proteus.jpg" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="【学习手记】基于AT89C52单片机的PID直流电机控制系统仿真"/></a><div class="content"><a class="title" href="/2021/01/31/PID-DCMotor-Simulate/" title="【学习手记】基于AT89C52单片机的PID直流电机控制系统仿真">【学习手记】基于AT89C52单片机的PID直流电机控制系统仿真</a><time datetime="2021-01-31T12:50:00.000Z" title="发表于 2021-01-31 20:50:00">2021-01-31</time></div></div><div class="aside-list-item"><a class="thumbnail" href="/2021/01/29/Matlab_Robot_simulation/" title="【学习手记】MATLAB与机器人仿真项目训练"><img src= "" data-lazy-src="/source_storage/matlabrobotsimulate.png" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="【学习手记】MATLAB与机器人仿真项目训练"/></a><div class="content"><a class="title" href="/2021/01/29/Matlab_Robot_simulation/" title="【学习手记】MATLAB与机器人仿真项目训练">【学习手记】MATLAB与机器人仿真项目训练</a><time datetime="2021-01-30T05:14:00.000Z" title="发表于 2021-01-30 13:14:00">2021-01-30</time></div></div></div></div><div class="card-widget card-categories"><div class="item-headline">
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